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A mathematical model for efficient extraction of key locations from point-cloud data in track area

Industrial Artificial Intelligence 2023年第1期1卷 1-14页

作者： Chen, Shuyue Wu, Jiaolv Lu, Jian Wang, Xizhao College of Mathematics and Statistics Shenzhen University Shenzhen China School of Software Engineering Shenzhen Institue of Information Technology Shenzhen China Shenzhen No. 3 Vocational School of Technology Shenzhen China College of Engineering Huaqiao University Quanzhou China Shenzhen Key Lab. of Advanced Machine Learning and Applications Shenzhen University Shenzhen China Guangdong Key Lab. of Intelligent Information Process Shenzhen University Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen China

During the construction of a metro system, it is inevitable that deviations will occur between the excavated tunnel and the original designed scheme. As such, it is necessary to adjust the designed scheme to accommodate these discrepancies. Specifically, the adjustment of the designed scheme involves a rigorous process of repeatedly selecting and verifying the feasibility of the proposed modifications using point-cloud data obtained from the tunnel. However, this process can be considerably time-consuming due to the large-scale and potentially redundant nature of the point-cloud data. This paper proposes a mathematical model for point-cloud data acquired in measuring a mined tunnel, which may deviate from the originally designed one. The modeling, which mainly includes determining its normal plane, and building the equation of tunnel point-cloud data, is to quickly extract several key locations in the tunnel surface for modifying the original design in order to achieve a minimum error between the modified design and the mined tunnel. In comparison with the conventional processing of extracting several key locations directly from point-cloud data, our model shows a significant promotion of extraction efficiency under an acceptable error bound. The model is tested in a real tunnel point-cloud data and the testing results confirm the increase of fitting accuracy and the decrease of computational load.

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Learning Stable Robotic Skills on Riemannian Manifolds

arXiv

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arXiv 2022年

作者： Saveriano, Matteo Abu-Dakka, Fares J. Kyrki, Ville Automatic Control Lab. Department of Industrial Engineering University of Trento Trento Italy Intelligent Robotics Group Department of Electrical Engineering and Automation Aalto University Finland

In this paper, we propose an approach to learn stable dynamical systems evolving on Riemannian manifolds. The approach leverages a data-efficient procedure to learn a diffeomorphic transformation that maps simple stable dynamical systems onto complex robotic skills. By exploiting mathematical tools from differential geometry, the method ensures that the learned skills fulfill the geometric constraints imposed by the underlying manifolds, such as unit quaternion (UQ) for orientation and symmetric positive definite (SPD) matrices for impedance, while preserving the convergence to a given target. The proposed approach is firstly tested in simulation on a public benchmark, obtained by projecting Cartesian data into UQ and SPD manifolds, and compared with existing approaches. Apart from evaluating the approach on a public benchmark, several experiments were performed on a real robot performing bottle stacking in different conditions and a drilling task in cooperation with a human operator. The evaluation shows promising results in terms of learning accuracy and task adaptation capabilities. Copyright © 2022, The Authors. All rights reserved.

关键词： robotics

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Dynamics Analysis of a Novel Underwater Vectored Thruster Based on 3-PPS Parallel Mechanism 3

Dynamics Analysis of a Novel Underwater Vectored Thruster Ba...

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3rd International Symposium on robotics and intelligent Manufacturing Technology, ISRIMT 2021

作者： Jiang, Dexin Zheng, Tianjiang Tian, Yingzhong Li, Huamin Zhang, Chi Yang, Guilin Shanghai University School of Mechatronic Engineering and Automation Shanghai China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China Zhejiang Key Lab. of Robotics and Intelligent Manufacturing Equipment Technology and Engineering Ningbo China

ISBN: (纸本)9781665437189

Underwater vectored thrusters can effectively improve the maneuverability and agility of underwater vehicles, which have already become one of the preferences for underwater vehicles. This paper presents a novel underwater vectored thruster based on a 3-PPS parallel mechanism, taking advantage of low inertial, high stiffness, compact structure, and good dynamic performance. Focused on the design and analysis of the presented novel thruster, an inverse kinematics solution was studied, and a closed-form dynamics model including partial hydrodynamics elements utilizing D'Alembert's principle was also constructed. The dynamic model was verified by the method of simulation experiments. The dynamics results show that the maximum value of the driving force of each limb is less than 500N under a given test trajectory and a rated thrust, which helps for the system actuators' selection, optimization of mechanical structure, and design of a highly reliable control. © 2021 IEEE.

关键词： Maneuverability

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Design and Validation of Tunable Stiffness Actuator using Soft-Rigid Combined Layer Jamming Mechanism

Design and Validation of Tunable Stiffness Actuator using So...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Seoyeon Ham Brian Byunghyun Kang Kevin Abishek Hyunglae Lee Wansoo Kim Department of Interdisciplinary Robot Engineering Systems Hanyang University Gyeonggi-do Republic of Korea Neuromuscular Control and Human Robotics Lab. Arizona States University AZ USA Department of Intelligent Mechatronics Engineering Sejong University Seoul Republic of Korea Robotics Department Ansan-si Gyeonggi-do Republic of Korea

This paper presents a tunable stiffness actuator with a soft-rigid combined layer jamming mechanism. The tunable stiffness actuator is aimed to be integrated into an exosuit to prevent ankle sprain and avoid or mitigate the development of chronic ankle instability. The main purpose of the soft-rigid layer jamming mechanism is to produce large stiffness with a small volume and achieve a linear stiffness characteristic. To this end, the actuator is designed to include rigid retainer pieces within the soft silicone layers, and each soft-rigid layer is jammed to induce stiffness changes. To validate the stiffness characteristics of the proposed soft-rigid actuator, a series of experiments were performed and stiffness changes were investigated for varying jamming states from unjammed to fully jammed states. Increasing the number of jamming layer effectively increased the actuator stiffness, which was consistent with expected results from the analytical model. Soft-rigid actuator's stiffness at the fully jammed state was 212.1% and 123.1% higher than the unjammed state for one-side and both sides anchored conditions, respectively. Compared to the soft actuator without the rigid retainer, the soft-rigid actuator exhibited a more linear characteristic (Pearson correlation coefficient = 0.990 and 0.997 for one-side and both sides anchored conditions, respectively). Moreover, the soft-rigid actuator achieved significantly higher stiffness than the soft actuator in all jamming states (at least 41.3% increase in each jamming state). The results suggest a potential use of the tunable stiffness actuator to develop a soft ankle exosuit with highly variable but linear stiffness characteristics.

关键词： Correlation coefficient Actuators Analytical models Composite materials Mechanical cables Soft robotics Jamming

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Attention-Based Knowledge-aware Multi-Interest intelligent Model for Sequential Recommendation 19

Attention-Based Knowledge-aware Multi-Interest Intelligent M...

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2022 IEEE SmartWorld, 19th IEEE International Conference on Ubiquitous Intelligence and Computing, 2022 IEEE International Conference on Autonomous and Trusted Vehicles Conference, 22nd IEEE International Conference on Scalab.e Computing and Communications, 2022 IEEE International Conference on Digital Twin, 8th IEEE International Conference on Privacy Computing and 2022 IEEE International Conference on Metaverse, SmartWorld/UIC/ATC/ScalCom/DigitalTwin/PriComp/Metaverse 2022

作者： Li, Yang Li, Qianmu Meng, Shunmei Hou, Jun Nanjing University of Science and Technology School of Computer Science and Engineering Nanjing China Wuyi University Intelligent Manufacturing Department Jiangmen China Nanjing University State Key Lab. for Novel Software Technology Nanjing China Nanjing Vocational University of Industry Technology School of Social Science Nanjing China

ISBN: (纸本)9798350346558

As a fundamental means of intelligent service, recommender systems have shown a trend of diversification. Sequential recommendation, a class of time-aware methods, aims to predict the user's next click. Multi-interest representation is a hot topic in recommender systems, but the research on how to apply multi-interest into sequences is still in the minority. And many methods will introduce knowledge graph to improve the representation of items, but how to consider both knowledge graph and user's multi-interest in sequential recommendation has become a temporary blank. In this paper, we propose an attentive sequential recommendation with knowledge-aware multi-interest module (AKAMI). Items are embedded from the sequence's structure and user's interests. Specifically, we represent items by stacking self-attention layers to mine the internal correlation of the sequence. Meanwhile, we segment the sequence via the common neighbors in the knowledge graph and cast the user's multi-interest based on the aggregation of subsequences. Multi-interests are integrated into item representation by the gating network adaptively. Comprehensive experiments on two real-world datasets show that the proposed model performs better than various representative methods under different evaluation metrics. Additionally, we also visually explain the model through a case study. © 2022 IEEE.

关键词： Recommender systems

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Marker or Markerless? Mode-Switchable Optical Tactile Sensing for Diverse Robot Tasks

arXiv

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arXiv 2024年

作者： Ou, Ni Chen, Zhuo Luo, Shan The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China The Robot Perception Lab. Centre for Robotics Research Department of Engineering King’s College London LondonWC2R 2LS United Kingdom

Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However, this uni-modal selection means the sensor is only suitable for either manipulation or perception tasks. While markers are vital for manipulation, they can also obstruct the camera, thereby impeding perception. The dilemma of selecting between marker and markerless modes presents a significant obstacle. To address this issue, we propose a novel mode-switchable optical tactile sensing approach that facilitates transitions between the two modes. The marker-to-markerless transition is achieved through a generative model, whereas its inverse transition is realized using a sparsely supervised regressive model. Our approach allows a single-mode optical sensor to operate effectively in both marker and markerless modes without the need for additional hardware, making it well-suited for both perception and manipulation tasks. Extensive experiments validate the effectiveness of our method. For perception tasks, our approach decreases the number of categories that include misclassified samples by 2 and improves contact area segmentation IoU by 3.53%. For manipulation tasks, our method attains a high success rate of 92.59% in slip detection. Code, dataset and demo videos are availab.e at the project website https://***/Marker-Markerless-Transition/ Copyright © 2024, The Authors. All rights reserved.

关键词： Tactile sensors

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AIDE: Attack Inference Based on Heterogeneous Dependency Graphs with MITRE ATT&CK 23

AIDE: Attack Inference Based on Heterogeneous Dependency Gra...

引用

23rd IEEE International Conference on Trust, Security and Privacy in Computing and Communications, TrustCom 2024

作者： Zhou, Weidong Xia, Chunhe Feng, Nan Pan, Xinyi Wang, Tianbo Li, Xiaojian Beihang University Beijing Key Lab. of Network Technology Beijing China Guangxi Normal University Guangxi Collab. Innovation Center of Multi-Source Information Integration and Intelligent Processing Guilin China Peking University School of Software & Microelectronics Beijing China Beihang University School of Cyber Science and Technology Beijing China Guangxi Normal University School of Computer Science and Engineering Guilin China

The MITRE ATT&CK Framework provides a rich and actionable repository of adversarial tactics, techniques, and procedures (TTPs). By leveraging the associations among these techniques, we can infer unobserved techniques based on those have been observed. Current machine learning inference methods based on small-scale data face the following problems: "logical dependencies missing"and "complex associations missing."The former means that current association methods rely solely on the statistical dependencies between attack techniques while ignoring the logical dependencies involved in executing those techniques. The latter indicates that current inference methods simplify the complex associations between technologies based on statistical assumptions, failing to adequately capture the long-range and intricate real-world relationships between techniques. To address these problems, we propose an Attack Inference model based on heterogeneous DEpendency graphs (AIDE). First, we extract three types of logical dependencies: CVE, Pattern, and Conditional, which allows us to construct a heterogeneous dependency graph among the techniques, thus addressing the "logical dependencies missing"problem. Second, we employ Relation Graph Convolution Neural Networks (RGCN) to aggregate heterogeneous dependencies into representation vectors of the techniques. Finally, we utilize the sequence inference model Decoder, which excels at capturing implicit contextual associations, to infer unknown attacks, thus addressing the "complex associations missing"problem. Experiments conducted on real datasets demonstrate that our model significantly outperforms state-of-the-art baseline models in both hits@k and map@k metrics. © 2024 IEEE.

关键词： Convolutional neural networks

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KADEL: Knowledge-Aware Denoising Learning for Commit Message Generation

arXiv

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arXiv 2024年

作者： Tao, Wei Zhou, Yucheng Wang, Yanlin Zhang, Hongyu Wang, Haofen Zhang, Wenqiang Shanghai Engineering Research Center of AI and Robotics Academy for Engineering and Technology Fudan University Shanghai China State Key Laboratory of Internet of Things for Smart City Department of Computer and Information Science University of Macau China School of Software Engineering Sun Yat-sen University Guangdong Zhuhai519082 China School of Big Data and Software Engineering Chongqing University Chongqing China College of Design and Innovation Tongji University Shanghai China Engineering Research Center of AI and Robotics Ministry of Education Academy for Engineering and Technology Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University 220 Handan Road Shanghai200433 China

Commit messages are natural language descriptions of code changes, which are important for software evolution such as code understanding and maintenance. However, previous methods are trained on the entire dataset without considering the fact that a portion of commit messages adhere to good practice (i.e., good-practice commits), while the rest do not. On the basis of our empirical study, we discover that training on good-practice commits significantly contributes to the commit message generation. Motivated by this finding, we propose a novel knowledge-aware denoising learning method called KADEL. Considering that good-practice commits constitute only a small proportion of the dataset, we align the remaining training samples with these good-practice commits. To achieve this, we propose a model that learns the commit knowledge by training on good-practice commits. This knowledge model enables supplementing more information for training samples that do not conform to good practice. However, since the supplementary information may contain noise or prediction errors, we propose a dynamic denoising training method. This method composes a distribution-aware confidence function and a dynamic distribution list, which enhances the effectiveness of the training process. Experimental results on the whole MCMD dataset demonstrate that our method overall achieves state-of-the-art performance compared with previous methods. © 2024, CC BY.

关键词： Sampling

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Multi-Objective Optimization of High-Power Fiber Laser Cutting of Thick Mild Steel by Using Response Surface Methodology

SSRN

引用

SSRN 2023年

作者： Liu, Yanjie Yoshigoe, Kenji Ullah, Farhan Zhang, Shijin Zhao, Yue Shanghai Key Lab of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China School of Software Northwestern Polytechnical University Xi’an710129 China Department of Electrical Engineering and Computer Science Embry-Riddle Aeronautical University Daytona BeachFL32114 United States

High-power continuous wave fiber laser cutting is a next-generation cutting technology for rapid prototyping and small-scale fabrication. To utilize the advantage offered by this technology in terms of high-quality cutting, the laser cutting process parameters must be optimized. In this study, separation speed experiment on thick mild steel plates was performed using a 12-kW continuous-wave multimode ytterbium-doped fiber laser, and a high-power fiber laser cutting cut-through criterion for thick carbon steel plates was proposed. The response surface method was used to model and optimize the cut quality characteristics. Material thickness, laser power, cutting speed, gas pressure, and defocus amount were selected as input factors, whereas kerf taper and material removal rate (MRR) were selected as output quality characteristics. The effects of the various factors on the kerf taper and MRR were investigated using analysis of variance, and second-order regression models were developed for the kerf taper and MRR. Furthermore, a multi-objective optimization method was used to optimize the kerf taper and MRR. The percentage errors of the validation experiments and multi-objective optimization results were 5.27% and 1.93% for the kerf taper and MRR, respectively. Moreover, the analysis revealed that the material removal mechanism and the kerf taper formation mechanism are related to the melt flow. The findings presented in this paper contribute to the improvement of quality and accuracy when cutting thick plates by using a high-power fiber laser. © 2023, The Authors. All rights reserved.

关键词： Multiobjective optimization

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Semi-Supervised Image Captioning Considering Wasserstein Graph Matching

arXiv

引用

arXiv 2024年

作者： Yang, Yang The Nanjing University of Science and Technology Nanjing210094 China PCA Lab Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education Jiangsu Key Lab of Image and Video Understanding for Social Security School of Computer Science and Engineering Nanjing University of Science and Technology China Ministry of Education State Key Lab. for Novel Software Technology Nanjing University China

Image captioning can automatically generate captions for the given images, and the key challenge is to learn a mapping function from visual features to natural language features. Existing approaches are mostly supervised ones, i.e., each image has a corresponding sentence in the training set. However, considering that describing images always requires a huge of manpower, we usually have limited amount of described images (i.e., image-text pairs) and a large number of undescribed images in real-world applications. Thereby, a dilemma is the "Semi-Supervised Image Captioning". To solve this problem, we propose a novel Semi-Supervised Image Captioning method considering Wasserstein Graph Matching (SSIC-WGM), which turns to adopt the raw image inputs to supervise the generated sentences. Different from traditional single modal semi-supervised methods, the difficulty of semi-supervised cross-modal learning lies in constructing intermediately comparable information among heterogeneous modalities. In this paper, SSIC-WGM adopts the successful scene graphs as intermediate information, and constrains the generated sentences from two aspects: 1) inter-modal consistency. SSIC-WGM constructs the scene graphs of the raw image and generated sentence respectively, then employs the wasserstein distance to better measure the similarity between region embeddings of different graphs. 2) intra-modal consistency. SSIC-WGM takes the data augmentation techniques for the raw images, then constrains the consistency among augmented images and generated sentences. Consequently, SSIC-WGM combines the cross-modal pseudo supervision and structure invariant measure for efficiently using the undescribed images, and learns more reasonable mapping function. Experiments show that our method can outperform state-of-the-art comparison methods on the MS-COCO "Karpathy" offline test split, under different complex semi-supervised scenarios. Copyright © 2024, The Authors. All rights reserved.

关键词： Visual languages

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